File content as of revision 35:b4e1b8f25cd7:

#include "change_walk.h"
void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
{
    Orbit triangle(TRIANGLE);
    triangle.SetTriangleParam(x_m, y_m, 0, 0, 0, time_s, 0, 0);
    walk.orbit[legnum].Copy(triangle);
}

void SetAllLegsTriangleParam(Walk &walk, float offset_x_m[4], float offset_y_m[4],
                             float stride_m[4], float height_m, float buffer_height_m,
                             float stridetime_s, float toptime_s, float buffer_time_s)
{

}

void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
                            float stridetime_s, float toptime_s, float buffer_time_s)
{
    Orbit triangle(TRIANGLE);
    triangle.SetTriangleParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
                              stridetime_s, toptime_s, buffer_time_s);
    walk.orbit[legnum].Copy(triangle);
}
void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
{
    Orbit freeline(FREELINES);
    freeline.SetFreeLinesParam(lineparams, point_num);
    walk.orbit[legnum].Copy(freeline);
}